In a mixing bowl, whisk together the honey, Dijon mustard, lemon juice, soy sauce, and minced garlic until smooth.
Place the chicken breasts in a zip-top bag or shallow dish and pour the marinade over them, ensuring each piece is well coated.
Seal the bag or cover the dish and refrigerate for at least 2 hours to marinate.
Preheat your grill (or heat a cast-iron grill pan) to medium-high heat. If using a charcoal grill, use a charcoal starter as needed.
Remove the chicken from the marinade and discard the excess marinade. Pound breasts to an even thickness if desired for even cooking.
Grill the chicken 6 to 8 minutes per side (about 12 to 15 minutes total) until no longer pink and an instant-read thermometer inserted into the thickest part reads 165°F (74°C).
Transfer the chicken to a plate and let rest a few minutes before serving.